End gripper for cloth laying-up machines



Jan. 30, 1951 F. c. BOOTH END GRIPPER F"OR CLOTH LAYING-UP MACHINES 5 Sheets-Sheet 1 Filed Dec. 16, 1946 FRED C. BOOTH INVENTOR ATTORNEY Jan. 30, 1951 F. c. BOOTH r 2,539,722

END GRIPPER FOR CLOTH LAYING-UP MACHINES Filed Dec. 16, 1946 5 Shets-Sheet 2 FRED c. BOOTH INVENTOR BYW ATTORNEY Jan. 30, 1951 File Dec. 16, 1946 Fnc BOOTH END GRIPPER FOR CLOTH LAYING-UP MACHINES 5 Sheets-Sheet 5 FRED c. BOOTH BYW INVENTOR ATTORNEY Jan. 30, 1951 F. C.BOOTH Y END GRIPPER FOR CLOTH mums-m MACHINES Filed Dec. 16-, 1946 5 Sheets-Sheet 4 FRED C. BOOTH IN V ENTOR ATTORNEY Jan. 30, 1951 c. BOOTH 2,539,722

ENDVGRIPPER FOR CLOTH LAYING-(JP MACHINES Filed Dec. 16, 1946 5 Sheets-Sheet 5 FRED C. BOOTH INVEN TOR 1 BYWM/M L0 ATTORNEY Patented Jan. 30, 1951 orrlce END GEIPPER FOR CLOTH LAYING-UP MACHINES- FredC. Booth, Bronxviile, N. Y.,- assignor to Lion Machine Corporation, New York N. Y, a corporation of New York Application December 16, l ifi serial-No. 716,453

1i Claims. 1.

This-invention relates to penetrating pin carrying. end: grippers forcloth laying-up machines and particularly to a type of end grippers which are operated in vertical planes-. by straight-line linkage mechanism.

Incloth laying-up machines; end gripperscagage the-folded ends of the clothes the:carriage. reciprocatesbackand forthon the cutting table. The end grippers: are: located at the ends'ofthe cutting. table and the carriage reciprocates betweenthe end grippers;

It is necessary to" maintain the ends of; the superposed layers: of cloth in a vertical plane in. order to prevent. wastage. of; the cloth.. For this pur.pose;.I have found; that, the best results are obtained by utilizing a straight-line. linkage as part of: thecombination of; the end grippers.

An object of. this invention: is to provide in a straight-line, linkage operated endgripper, means for maintaining the pins in a .verticalplane in all'elevationsof the end-gripper.

Another object of this invention is to provide in a straight-line linkageoperated end gripper; means permitting theincreasein vertical height of the pile of cloth while maintaining. thegrip: of the penetrating pins onthe clothin a single vertical plane.

Another object of this invention;is;to. provide; straight-line linkage composed of a. combination. of levers, links, slidable-linlrbars, and pinsand fulcrums so arranged and. assembled. as to give a' straight-line vertical lift tothe penetrating, pin bar.

Another object of. thisinvention is to provide: an endwise slidable and. rotatable fulcrum shaft. having. a latch arm fixed thereto-and adaptedifo engagement with alever of-the straighteline linlrage for holding the pin barin disengaging posi-- tion'and away from the pile of cloth.

Another object of this. invention is to provide a strong and durable device of the character described, which is simple. in construction, easily accessible for inspection. and: one. that may be: inexpensively built.

Another object of this invention isto. provide a manually operable pin bar movable in a vertical plane by straight-line linkage, the pin bar hav ing a handle at its upper face whereby thebarmaybe conveniently lifted by one hand of the operator while the-other hand may spread afoldof superposed layers of cloth in vertical alinement, the verticallyrising pin bar providing: a positive guide for the operator immaintaining the vertical alinement.

Another object of: this.- invention: is toprovide (ill. 270 30 permit clamping theend-gripper at various points alongv thelength of the table, by merely manipulating a single toggle lever.

With-theabove and other objects in view, the invention will. be hereinaftermore. particularly described,.andthe combination and arrangement.

of. partswwill be shown in the accompanying drawings and pointed out in. the claims which form part of this specification.

Reference will now be had to the. drawings, wherein-like numeralsof reference designate corresponding,partssthroughout theseveraL views, in which;

Figure 1 is atop plan view of a fragmentary portion ofa cutting table, carriage, cloth folding member, and an end gripper embodying the invention, the cloth folding member being in cross-sectionthrough the central portion thereof, to-expose a gripper element.

Figure 2is a side elevation'of the mechanism.

shown in Figurel.

Figure 3 is a side elevation of one of. the'end linkage mechanisms: inside the folding: member.

Figure 4 is; a cross-sectional view through a gripper element,. the section being. taken as: on line t.4 in Figure 1.

Figure 5 is across-sectional. view of thei linkage'mechanism, the section being taken asonli'ne;

54-5" in Figure 1.

Figure 6 is a fragmentary top plan view of the linkage mechanism shown inFiguretS. Figure '7 is a. front: elevation of'acam hanger shown resting on a fragmentary bottom portion of the carriage,- and showing avertically movable bear-- A portion of the cloth folding mechanism isillustrated in the'drawings, and comprises acloth folding member. [2. The-folding'member l2:com-

prises end members in the form of: cranks l3? which are secured to rock-shafts l4 rotatably mounted in bearings IS.

The folding member l2 also comprises spacedapart top and bottom plate members I! which are angular in cross-section and which are secured to the cranks l3 by screws l8. The plate members I? define the length of the folding member l2 and when rotated on the rock-shafts i4 permit the cloth to freely pass thereover during the laying up of the cloth.

As best shown in Figure 2, the folding membe I2 is mounted. eccentrically of its lengthwise center line of gravit to cause the cloth to lie flat against the cutting table at the beginning of operations to prevent the formation of bulges in the layed-up material.

The carriage II is mounted upon grooved wheels |9 resting on a track 26 at one lengthwise side of the cutting table HI, and upon non-' grooved or plain rubber wheels 2| resting. directly upon the cutting table.

The bearings l are slidably mounted vertically on guide rods '23 and when the bearings are raised above the table II), the folding member I2 is also raised vertically.

Automatic means is provided for raising the folding member i2 a predetermined distance each time the carriage reaches an end of the table. The folding member is raised sufficiently to accommodate the increasing thickness of the pile of cloth being laid and folded upon the table.

No claim is made to this automatic means for raising the folding member l2 as the pile of cloth accumulates, this being shown in full details in a separate patent application.

When the operator moves the carriage H the position of the upper and lower cloth laying plates I! is automatically reversed, thereby causing a fold to be formed in the cloth. This automatic reversing mechanism is also shown in full details in this separate patent application.

The top and bottom plate members ll of the folding member l2 are positioned in parallel planes and have elongated openings spaced apart equally along their lengthWise dimensions. Each opening extends through a side edge of a plate member.

Each folding member l2 comprises two elongated guide rollers 26. The rollers 26 are rotatably mounted on reduced end portions 2! in apertures in the end members or cranks l3.

This invention relates to penetrating pin carrying end grippers 30 which are operated in vertical planes by straight-line linkage mechanism 3|, 3|.

The end grippers 30 are positioned on the cutting table It] in the path of reciprocation of the carriage At each end of the reciprocatory movement of the carriage I, automatically actuating cam means 88 is provided on the carriage for lifting a pin carrying bar 4| away from the previously laid up pile of cloth. Cushioning bumpers 98 on the end gripper base 6| stop the carriage in pre-determined position so that the new end fold of the cloth is alined vertically with the previously laid folds. At this moment, the automatically actuating cam means 8:; permits the pin bar 4| to drop on the new fold and securely hold the same in alined position.

Each end gripper 30 comprises a gripper element and three straight line linkages 3|, 3| and 3|.

Each gripper element 40 comprises a pin bar 4| having vertical apertures 42 through which gripper pins 43 are slidably mounted in an upright direction. Each gripper pin 43 has a head 4 of larger diameter than the body of the pin. An open coil compression spring 45 is mounted on each pin and rests on the head. The lower ends of the gripper pins have conical points 46 which are sufficiently sharp to slightly penetrate the fabric being laid-up. Threaded nuts 41 retain the pins in the pin bar.

Each gripper element 40 also comprises a stripper bar 5| having clearance apertures 52 through which the head M freely passes. The stripper bar 5| is supported from the pin bar 4| by bolts 53 passing freely through the pin bar. The bolts are threaded in the stripper bar 5|. The heads 54 of the bolts 53 contact the upper face of the pin bar when the gripper element 40 is out of operative engagement.

A bifurcated horizontal bracket 55 is suitably secured to the mid-portion of the pin bar 4 The bracket 55 is in engagement with a pin 56 extending from the free end portion of a slidable link bar 5'! in the straight-line linkage mechanism 3|. It is to be noted that each gripper pin 43 is individually resiliently mounted to move up and down through the pin bar 4 i.

As shown in Figure 3, each end of the pin bar 4| is supported by a bolt 66. The bolt passes freely through the slidable link bar 57 and is threaded into an end of the pin bar.

It is to be noted that the pin bar 4| and the stripper bar 5| are in such spaced-apart relation as to cause the lowest points on the gripper pins 43 to come flush with the bottom surface of the stripper bar 5| when the gripper element 40 is raised into inoperative position away from the laid up fabric.

Figure 3 shows one of the straight line end linkage mechanisms 3|. The mechanism 3| is substantially identical with the central linkage mechanism 3|, shown in Figures 5 and 6.

The mechanism 3! comprises a base member 6| from which extend vertically two pedestals 62. Each pedestal 62 has three apertures 63 63 and 63 in vertically alined and uniformly spacedapart relation.

Three fulcrum shafts 64 6 3 and 64 are rotatably mounted in the respective apertures. Fixed to the upper fulcrum shaft 64 is a lever 65, the free end of which is connected by a pivot 65 to one end of a link 66. The other end of the link 66 is connected by a pivot 66 to the free end of a lever 61 fixed to the bottom fulcrum shaft 64 Midway between the end pivots 65 66 the link 66 has an integral extension 68 which is U- shaped in a direction transversely of the link. The extension 68 has a pivot 69 which is equidistant from the end pivots 65 66 and defines the axis of rotation of the link 66.

The pivot 69 functions as a connection from the link 66 to a point on the slidable link bar 5?. The pivot 69 is nearer to one end of the link bar 5'! than to the other end of link bar. The end of the link bar 51 which is further from the pivot 69 has an elongated slot 19 serving as a slidable guide over the middle fulcrum shaft 64 The slot 1B constrains the link bar 5'! near the pedestal 62 to sliding motion while the pivot 69 moves upwardly in a curved path.

The end of the slidable link bar 51 which is nearer the pivot 69 has a bolt 60 which connects the slidable link bar 5'! to the pin bar 4|.

The end gripper 3|] is slidable on the cutting table ID. The end gripper at the opposite end of the cutting table is fixed to the table.

The slidable end gripper 30 comprises toggle e, use; 12 2 clamping means 1-8 which includes abaseattachedto the base member 61-. A threaded rod 16 and a V-shaped adjustable jawll extend from the toggle l8. The=jaw 'l-l' isin engagement with a longitudinal side edge of the cutting table It whereby the end gripper 39 may be securely held on the cutting table and adapted for use on tables of various widths-and lengths. Theclamping means 18 for the slidable. end gripper 30 includes toggle linkage 19, well known in the art.

It is to be noted that base member 6! is extended to form a clamping jaw 88 which engages a portion of the length of the track 29- in opposition tothe adjustable jaw Tl".

In operation, the slid-able endgripper 30 is adjusted to the desired spaced relation from the fixed end gripper depending upon the length of the-layers of cloth desired.

It is to be noted that. while the function of the two end straight-line linkage mechanisms 3! is to move the gripper element 4!! in a vertical plane, thatthefunctionof the central straight-linelinlp age mechanism 3 is to keep thegripper element All; from rotating about-the bolt 66.

Ahandwheel- 85; isfixed at one end of the middle fulcrum shaft 64 and serves to slide and rotate the fulcrum shaftii' l A latch arm 85 having a right-angular extension 81- is fixed. to the fulcrum shaft 65 adjacent one of the pedestals 62; The handwheel 85' serves to slide'the shaft 64 to bring the latch arm 86- into: engagement or disengagement with the lever 6.1, when the gripper element M! is at itsv maximum elevation.

As shown in Figure. 'l, a straight. line. cam. 88

having an. inclined upper surface 89 is pivotally -l mounted on a pivot. pin 90.

The pin 90 is secured in a hanger. 9 I having integral guide bushings 92. The hanger is mounted for upright motion on. the guide rods: 23 carried by the carriage l I.

The cam 88 has. a. transversely projecting stop pin. 93 which is positioned to engage the bottom surface of a slot 94 in the hanger 91. when in. its lowest angular position.-

When the carriage i l approaches the end gripper 30, the toe 95 of the cam 88 passes below the lower periphery of a ball bearingv 96 rotatably mounted on the link. bar 51. The continued motion of the cam 88 causes the cam to raise the ball bearing 96. and an end linkage 3!. This causes the gripper element lid to be. raised to permit the. folding: bar 12 to. come under the gripper element and lay a fold of. cloth on the table if].

Further continued motion of the carriage H and the cam 88 causes the ballbearing 9'5 to'drop off the heel portion. or: of the cam 88 permitting the gripper element 5E! to resume its normally engaged relationship with the end of the layed up pile of cloth.

As shown in Figure 2, there: is provided a rubber block 98. carried by a bracket 99 which is suitably secured to the base member 6|.

The rubber block Sil is positioned to face the front endsurface Will of the carriage H so as to engage the carriage just prior to completion of its travel. The rubber block 98 is deformed and functions as a cushion bumper to absorb the inertia of the carriage and bring it to a gradual stop.

At the moment when the ball bearing es drops off the heel ill of the cam 86 the bumper is at its maximum deformity and prevents further motion of the carriage.

When the motion of the carriage is reversed the ball bearing engages the lower surface Nil 6 of the cam 38. The cam is thereby caused to oscillate about the pivot" pin 5!] to avoid obstruction of the cam by'the ball bearing and to permit freereverse motionof the carriage.

It isto be noted that during the actuation of an end linkage 3i by the ball bearing that the linkage 3 l is'also affected thereby;

It is to be noted that theca-m 33 is positioned on the carriage H to coact with the slidable end gripper 3 9* and that another cam- 88 on the carriage H= faces in the opposite direction and coacts with the fixed end gripper.

In accordance withthe'patent statutes Ihave described and illustrated the preferred embodiment' of my invention, but it will be understood that various changes and modifications can be made therein without departing from the: spirit of the invention as defined by the appended claims.

I claim:

1. A straight-line linkage operated end gripper of the character described, comprising a frame having base and upright members positioned in right-angular relation, each of said base and upright members having three alined apertures in vertically spaced-apart relation, three fulcrum shafts rota-tably mounted in said apertures, 00- sting sets of levers of equal length fixed at one of their ends respectively to the upper and lower fulcrum shafts, the free ends of each set of said levers pivotally connected by a, link, link bars slidable on said middle fulcrum shaft and being pivotally connected at the mid-portions of said links, means at the free ends of said link bars for supporting a gripper bar.

2. A straight-line linkage operated end gripper of the character described, com-prising a frame having base and upright members positioned in right-angular relation, each of said upright members having three alined apertures in vertically spaced-apart relation, three fulcrum shafts r0- tatably mounted in said apertures, coacting sets of levers of equal length fixed at one of their ends respectively to the upper and lower fulcrum shafts, the free ends of each set of said levers being pivot-ally connected by a link, slotted link bars slidable on said middle fulcrum shaft and being pivotally connected at the mid-portions of said links, and means at the free ends of said link bars for supporting a gripper bar for upright motion.

3. A straight-line linkage operated end gripper of the character described, comprising a frame having base and upright members positioned in angular relation, each of said upright members having three alined apertures in vertically spaced-apart relation, three fulcrum; shafts rotatably mounted in said apertures, 00- acting sets of levers of equal. length fixed at one of their ends respectively to the upper and lower fulcrum shafts, the free ends of each set of said levers being pivotally connected by a link, slotted link bars slidable on said middle fulcrum shaft and being pivotally connected at the mid-portions of said links, pivot means at the free ends of said link bars for supporting a gripper bar for upright motion and further linkage means mounted on said fulcrum shafts and being pivotally in engagement with said gripper bar for preventing said gripper bar from rotating.

4. A straight-line linkage operated end gripper of the character described, comprising a frame having base and upright members positioned in angular relation, each of said upright members having three apertures in vertically spaced-apart relation, three fulcrum shafts rotatably mounted in said apertures, coacting sets of levers of equal length fixed at one of their ends respectively to the upper and lower fulcrum shafts, the free ends of each set of said levers being pivotally connected by a link, slotted link bars slidable on said middle fulcrum shaft and being pivotally connected at the mid-portions of said links, pivot means at the free ends of said link bars for supporting a gripper bar for upright motion and further linkage means mounted on said fulcrum shafts and being pivotally in engagement with said gripper bar for preventing said gripper bar from rotating.

5. A straight-line linkage operated end gripper of the character described, comprising a frame having base and upright members positioned in angular relation, each of said upright members having three apertures in vertically spaced-apart relation, three fulcrum shafts rotatably mounted in said apertures, coacting sets of levers of equal length fixed at one of their ends respectivel to the upper and lower fulcrum shafts, the free ends of each set of said levers being pivotall connected by a link, slotted link bars slidable on said middle fulcrum shaft and being pivotally connected at the mid-portions of said links, pivot means at the free ends of said link bars for supporting a gripper bar for upright motion, further linkag mean mounted on said fulcrum shafts and being pivotally in engagement with said gripper bar for preventing said gripper bar from rotating, and means for retaining said bar in maximum vertically raised position Within the limits of said straight-line linkage.

6. A straight-line linkage operated end gripper of the character described, comprising base and upright members, each of said upright members having three apertures in vertically spaced-apart relation, three fulcrum shafts rotatably mounted in said apertures, coacting sets of levers of equal length fixed at one of their ends respectively to the upper and lower fulcrum shafts, the free ends of each set of said levers being pivotally connected by a link, link bars slidable on said middle fulcrum shaft and being pivotally connected at the mid-portions of said links, pivot means at the free ends of said link bars for supporting a gripper bar for upright motion, further linkage means mounted on said fulcrum shafts and being pivotally in engagement with said gripper bar for preventing said gripper bar from rotating, and means for retaining said gripper bar in maximum verticall raised position within the limits of said straight-line linkage.

'7. In an end gripper of the character described, comprising base and upright members, each of said upright members having three apertures in verticall spaced-apart relation, three fulcrum shafts rotatably mounted in said apertures, coacting sets of levers of equal length fixed at one of their ends respectively to the upper and lower fulcrum shafts, the free ends of each set of said levers being pivotally connected by a link, link bars slidable on said middle fulcrum shaft and being pivotally connected at the mid-portions of said links, pivot means at the free ends of said link bars for supporting a gripper bar for upright motion, and further linkage means mounted on said fulcrum shafts and being pivotally in engagement with said gripper bar for preventing said gripper bar from rotating.

8. In an end gripper having a gripper bar carrying cloth engaging pins, comprising base and upright members, each of said upright members having three apertures in vertically spaced-apart relation, three fulcrum shafts rotatably mounted in said apertures, coacting sets of levers of equal length fixed at one of their ends respectively to the upper and lower fulcrum shafts, the free ends of each set of said levers being pivotally connected by a link, link bars slidable on said middle fulcrum shaft and being pivotall connected at the mid-portions of said links, pivot means at the free ends of said link bars for supporting a gripper bar for upright motion, and further linkage means mounted on said fulcrum shafts and being pivotally in engagement with said gripper bar for maintaining said gripper bar pins in upright operative position.

9. In an end gripper having a gripper bar carrying cloth engaging pins, comprising base and upright members, each of said upright members having three apertures in vertically spaced-apart relation, three fulcrum shafts rotatably mounted in said apertures, coacting sets of levers of equal length fixed at one of their ends respectively to the upper and lower fulcrum shafts, the free ends of each set of said levers being pivotally connected by a link, link bars slidable on said middle fulcrum shaft and being pivotally connected at the mid-portions of said links, pivot means at the free ends of two of said link bars for supporting a gripper bar at the ends thereof and slidable pivot means offset from said first pivot means for guiding said gripper bar for vertical straight line motion.

10. In an end gripper having a gripper bar carrying cloth engaging pins, comprising base and upright members, each of said upright members having three apertures in vertically spaced-apart relation, three fulcrum shafts rotatably mounted in said apertures, coacting sets of levers of equal length fixed at one of their ends respectively to the upper and lower fulcrum shafts, the free ends of each set of said levers being pivotally connected by a link, link bars slidable on said middle fulcrum shaft and being pivotally connected at the mid-portions of said links, pivot means at the free ends of two of said link bars for supporting a gripper bar at the ends thereof, and slidable pivot means offset from said first pivot means for guiding said gripper bar for vertical straight line motion.

FRED C. BOOTH.

N 0 references cited. 

